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README.md modified README Nov 7, 2016

README.md

SUSANoh

Notice by ueno

If you need friction ball,execute this command.

export GAZEBO_MODEL_PATH=`pwd`/worlds/models/

and launch simulator.

cd worlds
roslaunch test.launch dir:=`pwd`

change a robot initial pose

If you want to change each robot location,change a arg init_pose in launch file.

For example, a robot locates (x,y,z) = (1,2,3) and (roll, pitch, yaw) = (-1, -2, -3)

<arg name="init_pose" value="-x 1 -y 2 -z 3 -R -1 -P -2 -Y -3"/>   

TODO    

  • [] make LRF Rulebase

    • [] catch LRF value
  • [C] catch camera data

  • [C] add ball friction in world file

    • [C] confirm friction of ball in gazebo-7
      caution ball friction is not supported in any gazebo. <velocity_decay> tag realize similar things. But this tag applicates a model in the air.
  • [C] control multiple robots

Bug

1.When gazebo_action.py is executed and you want to control multiple robot, this error occures

rospy.init_node() has already been called with different arguments

2.When you uncomment

cv2.imshow("image window", self.cv_image)
cv2.waitKey(3)

The image displays alternatively one and the others.

Notice by Osawa

emacs /home/osawa/gym-gazebo/gym_gazebo/envs/installation/catkin_ws/src/turtlebot/turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro

width and height 480 -> 60